EP3120112A1 - Procédé pour déterminer une grandeur de mesure physique variable dans le temps, dispositif de mesure correspondant et dispositif de traitement de valeurs de mesure - Google Patents

Procédé pour déterminer une grandeur de mesure physique variable dans le temps, dispositif de mesure correspondant et dispositif de traitement de valeurs de mesure

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Publication number
EP3120112A1
EP3120112A1 EP15711426.5A EP15711426A EP3120112A1 EP 3120112 A1 EP3120112 A1 EP 3120112A1 EP 15711426 A EP15711426 A EP 15711426A EP 3120112 A1 EP3120112 A1 EP 3120112A1
Authority
EP
European Patent Office
Prior art keywords
time
measured
value
measured values
transmission value
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP15711426.5A
Other languages
German (de)
English (en)
Other versions
EP3120112B1 (fr
Inventor
Zhaoqiang Han
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Schneider Electric Automation GmbH
Original Assignee
Schneider Electric Automation GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Schneider Electric Automation GmbH filed Critical Schneider Electric Automation GmbH
Publication of EP3120112A1 publication Critical patent/EP3120112A1/fr
Application granted granted Critical
Publication of EP3120112B1 publication Critical patent/EP3120112B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D3/00—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups
    • G01D3/02—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups with provision for altering or correcting the law of variation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B23/00—Testing or monitoring of control systems or parts thereof
    • G05B23/02—Electric testing or monitoring
    • G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
    • G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
    • G05B23/0221—Preprocessing measurements, e.g. data collection rate adjustment; Standardization of measurements; Time series or signal analysis, e.g. frequency analysis or wavelets; Trustworthiness of measurements; Indexes therefor; Measurements using easily measured parameters to estimate parameters difficult to measure; Virtual sensor creation; De-noising; Sensor fusion; Unconventional preprocessing inherently present in specific fault detection methods like PCA-based methods

Definitions

  • variable physical quantity and corresponding measuring device and measured value processing device
  • the invention relates to a method for detecting a time-variable physical measured variable, wherein in each case a measured value of the measured variable is measured with a measuring sensor for a sequence of measuring times and a transmission value is respectively formed for the measured values and transmitted to a processing unit via a signal path.
  • digital encoders in drive technology are increasingly used to provide position information as a direct measurement or velocity or acceleration information as a direct measurement or derived measurement of a measurand to the drive controller.
  • the position and the speed are determined here by a processor of the encoder and then transmitted from the encoder to the drive control via a serial communication interface with a protocol such as EnDat, SSI and BISS.
  • the position and the speed are determined in the encoder with a sampling frequency which is higher than the sampling rate in the controller to reduce the time delay of the measured position or speed.
  • the processors in the digital encoder and in the controller are not synchronized with each other.
  • communication between the processors creates a further time delay for the processors determined position or speed.
  • the speed requires a calculation from the position determined using phase locked loops (PLL) of Todd difference methods. This leads to further time delays for: the measured speed.
  • PLL phase locked loops
  • the invention further relates to a measuring device with a measuring sensor, said measuring sensor is adapted to a measurement of measured values of a time-varying physical measured variable at specific time points: a transmission value forming unit, which is adapted to form a transmission value to each measured value, and Studentstra ⁇ transmission means, which is set up to transmit the transmission values formed over a signal path.
  • Such measuring devices are used, for example, in digital encoders to transmit and provide a measured position and / or speed to a remotely located drive controller.
  • the transmission value - forming unit is formed in known measuring devices by a converter of the measured value for the serial or analog transmission.
  • the invention relates to a measured value processing device having a measuring device, a processing unit and an i signal path established between the measuring device and the processing unit.
  • Such measured value processing devices are used, for example, for controlling an electric drive, wherein the measuring device is configured as an encoder or in another way for measuring a position and / or a speed of the drive and the processing unit is designed in control electronics of a drive control.
  • the invention has for its object to improve the control behavior of a drive control.
  • the invention proposes the features of claim 1.
  • the transmission value for each currently processed measured value be formed by temporal extrapolation of a sequence of measured values which precede the time to a future time.
  • the invention therefore makes it possible to provide the processing unit with an approximate, predicted measured value for further processing which takes into account the further development of the measured system until the transmission value has arrived at the processing unit. It is true that the extrapolation results in an error, since the measured system could develop differently than predicted. However, it has been found that this error is small for many applications against the error that would arise due to the described time delays.
  • the measured system has sufficient inertia or inertia: by which the prognosis calculated after the measurement at the time of arrival the transfer value in the processing unit is still valid.
  • the measured values can be used as direct measured values, that is to say without intermediate calculation or processing step and / or directly from raw data of a sensor, or as derived measured values, for example with at least one intermediate calculation step such as a time derivative of first, second or higher degree or without independent measurement, obtained and processed.
  • the invention makes it possible to dispense with a hardware-based synchronization between the measuring probe and the proces ⁇ processing unit.
  • the time delay through the transmission and the calculation of the transmission value can be compensated by the extrapolation according to the invention.
  • the performance of the drive control can be improved.
  • the future point in time is temporally spaced from the measuring instant of the currently processed measured value by at least one transmission time period for the transmission of the transmission value via the signal path. It can be provided here that the future point in time is additionally offset by one measuring period into the future. Additionally or alternatively, it can be provided here that the future point in time is additionally offset by a formation time span for forming the transmission value into a measured value into the future.
  • a period of time passes between recording a measured value and providing the transmission value.
  • the time at which the extrapolation is calculated is thus even closer to the actual time at which the transmission value is further processed in the processing unit, closer.
  • the future point in time is additionally offset by a buffer period in the future.
  • a jitter jitter
  • a buffer time interval can be waited for in order to compensate for transmission delays by means of clock jitter, without the extrapolation losing significant validity.
  • the transmission value is transmitted as a digital signal.
  • the advantage here is that a computing capacity can be used in the measuring device at the measuring location. It is particularly favorable if the transmission value is transmitted serially. As a result, simple and / or existing wiring can be used.
  • it may be provided that a time interval between the measurement times for two consecutive measured values is smaller than a time constant of the time-variable physical measured variable. Thus, the measured values can be used as meaningful support points for extrapolation. A quality of the extrapolation is thus improved.
  • a time span up to the future point in time for which the extrapolation is carried out is smaller than one, for example the time constant of the temporally variable physical measured variable already mentioned.
  • the advantage here is that inertia or a persistence of the measurand is usable in order to obtain a valid speed of extrapolation at the time of further processing.
  • a time interval between two queries is smaller than one, for example the time constant of the time-variable physical measured variable already mentioned.
  • the advantage here is that a movement described by the measured variable is realistically detectable.
  • a time interval between the time points at two successive measured values for example, the already he ⁇ -mentioned time interval for the measured values is constant. From;
  • the advantage here is that a system of equations which has to be solved for the extrapolation can be simplified by displaying the measurement times of the preceding measured values used as interpolation points as powers of the time interval.
  • the extrapolation of a matrix multiplication of a matrix with entries, which depend only on the future time as a variable and in which the future time is ⁇ sets is ten with as a vector arranged number of measured can be provided calculated becomes.
  • the advantage here is that a fixed matrix with insertion options for the future time as a variable is stored.
  • the extrapolation can thus be implemented in a computationally simple manner.
  • a number of measured values are preferably used for each extrapolation, which mutually comply with a pattern of time intervals which is constant for all extrapolations, in particular those which have been recorded spaced apart by a defined sampling rate and / or exactly one time interval apart.
  • the formation of the transmission value is triggered in each case by a query of the processing unit.
  • the processing unit may refer as needed transmission ⁇ values.
  • a synchronization between the measuring device and the processing unit is dispensable.
  • the query is transmitted via the signal path.
  • a query for example the already mentioned query, of the processing unit is sent to the measuring device before a time at which the transmission value in the processing unit is required. It is advantageous in that a calculation and transmission of the transmission value at the same time to a continuation of a program can be executed in the cookedsein ⁇ unit. Thus, it is avoidable that the processing unit must wait for the transmission of the transmission value.
  • the query is preferably sent in such a timely manner that, by the time the transmission value in the processing unit is required, a transmission of the query to the measuring device, a check and evaluation of the query in the measuring device, a provision of the transmission value in the measuring device and a transmission of the transmission value to the processing unit are executable.
  • provision may be made for the provision of the transmission value to comprise individual or all calculation steps of the extrapolation, or for one or all of the calculation steps to be carried out in advance and / or independently of a query, in particular to save time.
  • the physical measured variable is a setting position and / or an actuating speed of a drive.
  • the method according to the invention in a Ahtriebs- control unit is operable in particular to an improvement of a control quality or stiffness of a control circuit: is an advantage.
  • the transmission value is used to control the physical measurement variable.
  • an accuracy of a feedback of the control can be improved, in that the feedback transmission value at the time of its further processing agrees better with the measured value actually present at this time.
  • an extrapolation with a preferably cubic or quadratic polynomial in a time variable is calculated to form the transmission value.
  • a jerk jerk
  • quadratic polynomials in the time variable is possible for processes in which acceleration in a considered time window is negligible. This can be given for large moving moments of inertia or masses.
  • the limitation of the order of the polynomial has the advantage that a: amount of computation for an automated, compüterimplementieri calculation: is reducible the transfer value.
  • coefficients of a polynomial which describes a first number of measured values are calculated for each measured value.
  • the advantage here is that the coefficients are available as parameters for extrapolation. It is particularly favorable if the coefficients are calculated before or independently of a query by the processing unit. Thus, a period of time until which a transmission value can be provided to a query can be shortened.
  • the coefficients which define the polynomial for the description of the first number of measured values are calculated by a matrix multiplication with the measured values.
  • the measured values are multiplied by a matrix that depends only on one order of the polynomial and the first number of measured values.
  • the advantage here is that an explicit time dependence can be eliminated.
  • a number of measured values are preferably used for each extrapolation, which mutually comply with a pattern of time intervals which remains constant for all extrapolations, in particular which are each recorded at exactly one time interval apart from each other.
  • the advantage here is that an explicit time dependence can be eliminated by scaling, ie : a division of the time by the time interval.
  • the matrix is formed by a pseudo inversion of a rectangular matrix with entries of line by line increasing powers of a respective: line number.
  • a pseudo-inversion for a rectangular matrix can be characterized by forming the inverse of a matrix product of the transposed matrix with the transposed matrix and matrix-multiplying by the transposed matrix.
  • the number of measured values is greater than 2.
  • the advantage here is that the system of equations to be resolved is not underdetermined and thus a pseudo-inversion can be executed.
  • the matrix is stored for all calculations with fixed entries.
  • the advantage here is that a matrix inversion is not required for the calculation of the coefficients.
  • computing capacity can be saved, so that the method can be executed on a processing unit with extremely limited computing capacity.
  • measured values of a physical measured variable derived from the measured values and which can be described as a function, in particular as a time derivative of the first, second or higher order, of the physical measured variable of the first named measured values are calculated by polynomial adapted to the first measured values, for example the already mentioned polynomial, processed and / or evaluated.
  • these first-mentioned measured values can be present as direct measured values.
  • the advantage here is that a complex calculation; Time derivatives, for example, with a phase locked loop (PLL - phase locked loop) and / or a differentiator is dispensable.
  • the processing of the polynomial preferably takes place by processing coefficients, for example the already mentioned coefficients, of the polynomial.
  • the invention makes use of the fact that the temporal derivatives of a time-dependent polynomial-which here describes the temporal sequence of the (direct, first mentioned) measured values-can be described solely from the coefficients without differentiation.
  • the transmission value is formed by extrapolation with the coefficients to the currently processed measured value. These coefficients can be updated here for each newly recorded measured value independently of a query. Thus, sliding coefficients are available for extrapolation. Thus, a simple calculation way to quickly calculate the transmission value in response to a query is available.
  • a transmission value and at least one associated time derivative, in particular a position, a speed and / or an acceleration are calculated.
  • the advantage here is that, in addition to a position information, speed information and / or acceleration information tones without differentiation can also be provided. Elaborate phase feedback loops for differentiation of a transmitted time-dependent position signal are thus dispensable.
  • the extrapolation is formed by a matrix multiplication of the coefficients with an extrapolation matrix with entries which depend only on the future time, the sampling period and the number of measured values and in which the future time is used.
  • the sampling period can specify the time interval between the measuring instants for successive measured values.
  • a position and a speed and in particular additionally an acceleration are calculated.
  • the advantage here is that the extrapolation can be implemented as matrix manipulation. This is computationally favorable for an implementation in a processing unit with limited computing capacity.
  • a first transmission value by extrapolation of a first number of preceding measured values for example : the already mentioned number
  • a second transmission value by extrapolation of a second number is formed by previous measured values and that the transmission value is the first transmission is taken when a deviation between the first transmission value and the second transmission value is smaller than a threshold value, and that otherwise the second transmission value is taken as the transmission value.
  • the features of the directed to a measuring device sibling claim are provided according to the invention.
  • a measuring device of the type described at the beginning that the transmission value forming unit to form the transfer to achieve the above object - value to each currently processed measurement value as a temporal extrapolation of a sequence of the measured value temporally preceding Gegan ⁇ gen measured values to a future time is set up.
  • the invention takes advantage of the fact that the computing power of digital processors is increasing more and more today, while the procurement price is decreasing at the same time.
  • a measuring device for implementing the invention can be equipped with sufficient computing power.
  • the invention offers the advantage that transmission values which are better approximated to the actual measured value of the measured variable at the time of further processing in the processing unit can be transmitted to a superordinate control or other processing unit. Thus, the informative value of a recorded and transmitted measured variable can be improved.
  • the invention offers the further advantage that extrapolation in the measuring device can be calculated. Thus, the processing unit of computational tasks is relieved. Finally, as also not transmitted ⁇ th measurement values to previous measurements as interpolation points for the extrapolation can be used which would not be standing on the superordinate processing unit. With the measuring device according to the invention thus a measuring device is provided which can be used easily in existing systems is. It can be achieved in such a way that only one programming of the processing unit has to be adapted for retrofitting.
  • a method according to the invention in particular as described above and / or according to one of the claims directed to a method.
  • the features of the dependent on a measured value processing device, sibling claim are provided according to the invention.
  • the advantage here is that a signal processing chain can be formed, in which subsequent processing steps in the processing unit - within the limits of the approximation by the extrapolation - to time or only slightly delayed measured values (more precisely their approximations) can access. Thus, an accuracy of these later processing steps can be improved.
  • the signal path is part of a control loop.
  • the advantage here is that a delay-free or at least low-delay feedback can be provided.
  • Another advantage is that this advantageous feedback can be retrofitted even with existing systems. This can be achieved, for example, by exchanging an existing measuring device for a measuring device according to the invention and adjusting a programming or other device of the processing unit.
  • the measuring device is an encoder.
  • the invention for improving a ' position and / or speed measurement in particular in the drive technology, so for example in drives, can be used.
  • the processing unit is part of a drive control unit.
  • the advantage here is that a precision, quality and / or rigidity of a control, which is performed by the drive control unit, can be improved.
  • 1 shows a signal processing in a processing unit and in a measuring device of a measured value processing device according to the invention
  • 2 is a flowchart of a method according to the invention
  • FIG. 4 is a plot of physical measured variables in a method according to the invention
  • FIG. 7 shows a detail of a measuring device from FIG. 6.
  • the measuring device 26 is an encoder for measuring the position and speed of a drive-driven part and in which the drive has a drive control, which provides the processing unit 24.
  • the invention can also be used in other constellations and technical fields.
  • FIGS. 1 to 6 will be described together below.
  • a measured value processing device 33 has a measuring device 26 with a measuring sensor 34, here an encoder, a processing unit 24 and a signal path 29 established between the measuring device 26 and the processing unit 24.
  • a program is executed which forms a control loop 32 in which the physical quantity represents an input variable.
  • this is a position control and / or a speed control as a function of an actual position and / or an actual speed as a physical measured variable (s).
  • the values of the physical measured variable are transmitted to the processing unit 24 via a signal path 29, in this case a connecting cable or a radio link of the encoder.
  • Fig. 1 shows in the upper half on a time beam processing times 1, to which a new value for; the physical measurand is needed in the processing unit.
  • the processing unit sends a query 2 (see Figures 2 and 3) to the measuring device.
  • calculation sections 3 are shown on a further time beam. At the beginning of these calculation sections 3, measuring times 4 are provided, for which the measuring device measures a momentary direct measured value 5 of the physical quantity 8, cf. FIG. 4.
  • raw signals of a measuring sensor 34 are converted into derived measured values 6, 7.
  • the derived measured values 6 of the speed and 7 of the acceleration are also calculated for the direct measured values 5 of the position.
  • the actual measured values 13, 14, 15 are respectively present in the measuring device at a time of delivery 11.
  • Each calculation section 3 takes a measurement period T Pos . After a sampling period T S / Enc , a new measured value: 5, 6, 7 is recorded.
  • the measured values 5 are direct measured values in the sense that the measured values 5 are formed directly from raw data of a measuring sensor.
  • the measured values 6, 7 are derived measured values in the sense that no independent measurements are carried out, but the measured values 6, 7 are calculated or formed from the first-mentioned measured values 5. This is possible because the physical measured quantities 9, 10 can be written to the measured values 6, 7 as respectively as a function of the physical measured variable 8 of the measured values 5.
  • individual or all measured values 5, 6, 7 can be obtained as direct or as derived measured values.
  • FIG. 4 shows by way of example a temporal progression of a physical measured variable 8 as a position, an associated time profile of a physical measured variable 9 as velocity, that is to say a chronological progression of the first derivative of the physical measured variable 8, and an associated time profile of a physical measured variable 10 as acceleration, that is, a time course of the second derivative of the physical measured variable 8.
  • the illustrated courses of motion are only examples and not limiting. The movements can actually be arbitrary in the context of physical laws.
  • a time period T Req is required to transmit the query 2 to the measuring device.
  • a time period T Chk is required in the measuring device to process this query 2.
  • the measuring device 26 uses 2 in response to the query the currently processed measured value 13, 14, 15, ie the last measured value 5, 6, 7 before receipt of the query 2, for which the calculation section 3 is completed.
  • the associated measuring time 4 for this measured value 13, 14, 15 is indicated in FIG. 2 by an arrow 12.
  • the measuring device 26 calculates a transmission value 17, 18, 19 from the sequence of the measured values 5, 6, 7 to the current measured value 13, 14, 15 for a future point in time 16.
  • the measuring device 26 measures in each case a direct measured value 5 of the physical measured variable 8 and after each measurement begins to measure a time duration which has elapsed since the last measuring time 4.
  • Fig. 2 shows the timing of more detailed.
  • T E i ap denotes the time duration which has elapsed since the last measuring time 4 until the complete arrival of the interrogation 2 in the measuring device 26, and T Exp again denotes the extrapolation step 21.
  • the query 2 the processing unit 24 is hereby transmitted to a ⁇ receivable period Tcmd before the future point in time 16, at which the transmission value of 17, 18, 19 is required in the processing unit 24 to the measuring device 26th It applies
  • Tcmd Tuen * Tchk + Tltr + T $ nü + Tffss. ( 1 )
  • the extrapolation step T Exp is composed of the time period T E i ap , the formation period T Etr for forming the transmission values 17, 18, 19, the transmission period T Snd and a buffer period T Res for compensating for timing jitter.
  • any motion can be approximated by a constant acceleration:
  • a is the acceleration
  • v is the velocity and the position x
  • v 0 , x 0 denote the initial velocity and the initial position.
  • the position is a polynomial of degree two ⁇ in time t.
  • a movement with constant speed is thus only a special case, in which the acceleration is zero.
  • the consideration can be extended to any movements with constant jerk (derivative of the acceleration). In this case one obtains a polynomial of third degree. Even higher order polynomials can be used, but are rare in practice. Rather, the low-order polynomial is a sufficient approximation of reality if the considered time interval is sufficiently short.
  • the acceleration is assumed to be constant in equation (4), which approximately applies to very short time intervals.
  • the method is not limited to second order polynomials.
  • the time variable may be scaled with the sampling period to simplify the calculation. If the sampling period is T ⁇ recorded, applies
  • the time fc is exactly one ⁇ btast ⁇ time (measurement time 4). Otherwise, the time t lies between two sampling times.
  • the vector ⁇ here contains the parameters which define the coefficients of the polynomial from equation (7).
  • the parameters can be calculated by pseudo-inversion according to
  • the parameters in ⁇ are thus calculated by a matrix multiplication with the measured values of the vector x.
  • the matrix B and the matrix A T depend only on the order of the polynomial in equation (7) and the first number n of measured values x 0 , x 1 ( x 2 , x n .
  • the matrix & is a constant matrix. This matrix is stored for all calculations in the processing unit with fixed entries.
  • the entries of the extrapolation matrix thus depend only on the future time 16, the sampling period T and the n + 1 measured positions xi, ie the number n of measured values 5.
  • the position x, the velocity and the acceleration a are on the left side of equation (18) from top to bottom.
  • equations (14) and (18) it follows that in the method of extrapolation according to the invention a matrix multiplication of a matrix with entries that depend only on the future time 16 as a variable and in which the future time 16 is used , with which the number of measured values 5, 6, 7 arranged as a vector is calculated.
  • the transmission values 17, 18, 19 sent from the measuring unit to the processing unit 24 within the transmission period T Sn d are obtained by a matrix multiplication with the matrix according to equation (18).
  • a transmission value 17, the associated first time derivative as transmission value 18 and the associated second time derivative as transmission value 19 are determined in a calculation.
  • the transmission values 17, 18, 19 are ready for further processing.
  • the measuring device 26, here the encoder thus calculates the absolute position with a high sampling rate.
  • the measuring device 26 receives a query 2 to send the absolute position and the velocity, it used the last n + 1 measured values to calculate the polynomial coefficients as parameters.
  • the last n + 1 used measured values 5 in the last sampling time of the processing unit, al ⁇ so here the drive control, are, as this Fig. 5 shows.
  • the derived measured values 6 (here the speed) and 7 (here the acceleration) are determined by the determined polynomial.
  • the measurement values used for the extrapolation Kgs ⁇ NEN also extend to past sampling times of the processing unit 24th
  • the calculation and transmission of the transmission values 17, 18, 19 takes time. This can be taken into account to improve the dynamic performance.
  • the more direct readings 5 are used, the more accurate the parameters can be determined if the motion parameters do not change.
  • two computations may be performed with different sets of measurements.
  • FIG. 5 the same reference numerals have been used as with FIGS. 1 to 4 and are not described again separately. The statements relating to FIGS. 1 to 4 therefore apply correspondingly to FIG. 5.
  • a first transmission value is tentatively formed by extrapolation from a first number 22 of preceding measured values 5, for example the last n + 1 measured values.
  • a second transmission value is formed by extrapolation from a second number 23, the second number 23 being smaller than the first number 22, for example the last n + 1-M measured values (M> 1), from previous measured values 5.
  • transmission value 17 the first transmission value is taken when a deviation. between the first transmission value and the second transmission value is less than a threshold value. Otherwise, the second transmission value is transmitted as a transmission value 17.
  • FIG. 6 shows a measured value processing device 33 in a greatly simplified schematic diagram.
  • the measured-value processing device 33 has a processing unit 24, in this case, for example, a drive controller with an output stage, which activates an actuator 25, here for example a motor, in a manner known per se via a motor cable 27 and applies coil currents thereto.
  • the measured-value processing device 33 further has a measuring device 26. With the measuring device 26 is a rotational movement or other adjustment of the actuator 25 can be determined. The measuring device 26 thus generates direct measured values 5, for example positions of the aforementioned adjusting movement of the actuator 25.
  • the measuring device 26 is connected to the processing unit 24 via a signal path 29.
  • the measuring device 26 has a measuring sensor 34 shown in FIG. 7, with which the direct measured values 5 are recorded.
  • the measuring device 26 has a transmission value-forming unit 30, with which the already described prognosis of the physical measured variable 8 can be calculated as a transmission value 17 for a future time.
  • the transmission value-forming unit 30 has a microprocessor, not shown further, which is set up in a manner known per se to apply a polynomial to a sequence of direct Adjust readings 5 to read the transmission value 17 from a value of the polynomial at the future time.
  • the microprocessor or another microprocessor or, in general, the measuring device 26 is also set up to calculate derived measured values 6, 7, for example an associated speed and / or an associated acceleration, from the direct measured values 5.
  • temporal derivatives of the sequence of direct measured values can be formed in a manner known per se.
  • the coefficients of the calculated polynomial for the physical quantity prediction 8 are additionally used in order to obtain the derived measured values 6, 7 and the associated forecasts for future times as transmission values 18, 19. Diffusions are not required.
  • the transmission values 17, 18, 19 are transmitted to the processing unit 24 via the signal path 29.
  • the signal path 29 thus allows a feedback to the processing unit 24, whereby a control loop 32 is formed.
  • processing unit for example, drive controller and power amplifier

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Technology Law (AREA)
  • Arrangements For Transmission Of Measured Signals (AREA)

Abstract

L'invention concerne un dispositif de mesure comprenant un capteur de mesure (34) qui reçoit une valeur mesurée (5) d'une grandeur de mesure physique variable dans le temps. Selon l'invention, on calcule une valeur de transfert (17, 18, 19) par extrapolation d'une suite de valeurs mesurées (5, 6, 7) sur un instant futur (16) et on l'utilise pour la transmission à une unité de traitement.
EP15711426.5A 2014-03-15 2015-03-13 Procédé pour déterminer une grandeur de mesure physique variable dans le temps, dispositif de mesure correspondant et dispositif de traitement de valeurs de mesure Active EP3120112B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102014003776.2A DE102014003776A1 (de) 2014-03-15 2014-03-15 Verfahren zur Erfassung einer zeitlich veränderlichen physikalischen Messgröße und korrespondierende Messeinrichtung und Messwert-Verarbeitungsvorrichtung
PCT/EP2015/000555 WO2015139828A1 (fr) 2014-03-15 2015-03-13 Procédé pour déterminer une grandeur de mesure physique variable dans le temps, dispositif de mesure correspondant et dispositif de traitement de valeurs de mesure

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EP3120112A1 true EP3120112A1 (fr) 2017-01-25
EP3120112B1 EP3120112B1 (fr) 2018-07-18

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DE (1) DE102014003776A1 (fr)
WO (1) WO2015139828A1 (fr)

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